| | --- |
| | license: apache-2.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | configs: |
| | - config_name: default |
| | data_files: data/*/*.parquet |
| | --- |
| | |
| | This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
| |
|
| | ## Dataset Description |
| |
|
| |
|
| |
|
| | - **Homepage:** [More Information Needed] |
| | - **Paper:** [More Information Needed] |
| | - **License:** apache-2.0 |
| |
|
| | ## Dataset Structure |
| |
|
| | [meta/info.json](meta/info.json): |
| | ```json |
| | { |
| | "codebase_version": "v2.1", |
| | "robot_type": "UR10", |
| | "total_episodes": 230, |
| | "total_frames": 28843, |
| | "total_tasks": 2, |
| | "total_videos": 690, |
| | "total_chunks": 1, |
| | "chunks_size": 1000, |
| | "fps": 25, |
| | "splits": { |
| | "train": "0:230" |
| | }, |
| | "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| | "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| | "features": { |
| | "action.pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "dx", |
| | "dy", |
| | "dz", |
| | "droll", |
| | "dpitch", |
| | "dyaw" |
| | ] |
| | }, |
| | "action.gripper": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "gripper" |
| | ] |
| | }, |
| | "action.joints": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "dbase", |
| | "dshoulder", |
| | "delbow", |
| | "dwrist1", |
| | "dwrist2", |
| | "dwrist3" |
| | ] |
| | }, |
| | "observation.state.pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "x", |
| | "y", |
| | "z", |
| | "roll", |
| | "pitch", |
| | "yaw" |
| | ] |
| | }, |
| | "observation.state.gripper": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "gripper" |
| | ] |
| | }, |
| | "observation.state.joints": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "base", |
| | "shoulder", |
| | "elbow", |
| | "wrist1", |
| | "wrist2", |
| | "wrist3" |
| | ] |
| | }, |
| | "observation.images.side": { |
| | "dtype": "video", |
| | "shape": [ |
| | 1096, |
| | 1336, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "manufacturer": "Basler", |
| | "model": "a2A1920-51gcBAS" |
| | } |
| | }, |
| | "observation.images.wrist_left": { |
| | "dtype": "video", |
| | "shape": [ |
| | 540, |
| | 720, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "manufacturer": "Lucid", |
| | "model": "Phoenix 1.6 MP Model (IMX273)", |
| | "exposure": 1800.0, |
| | "serial": "242200036" |
| | } |
| | }, |
| | "observation.images.wrist_right": { |
| | "dtype": "video", |
| | "shape": [ |
| | 540, |
| | 720, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "manufacturer": "Lucid", |
| | "model": "Phoenix 1.6 MP Model (IMX273)", |
| | "exposure": 1800.0, |
| | "serial": "242200039" |
| | } |
| | }, |
| | "observation.timestamps": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 4 |
| | ], |
| | "names": [ |
| | "robot", |
| | "camera_side", |
| | "camera_wrist_left", |
| | "camera_wrist_right" |
| | ] |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | } |
| | } |
| | } |
| | ``` |
| |
|
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
